EP3859382A1 - Security system and method for locating a person or object in a surveillance area with a security system - Google Patents

Abstract

Method for localizing a person (2) or an object (8) in a monitoring area with a security system (1) and security system (1), with at least one movable machine (11), with a control and evaluation unit (3), with at least a radio location system (4), with at least one spatially resolving sensor (7) for determining the position of the person (2) or the object (8), the radio location system (4) having radio stations (5) arranged on the person (2) or the Object (8) at least one radio transponder (6) is arranged, the position data of the person (2) or the object (8) being determined by means of the radio location system (4), the position data from the radio stations (5) of the radio location system (4) being determined the control and evaluation unit (3) are transmitted, and position data of the person (2) or the object (8) are determined by means of the spatially resolving sensor (7), the control and evaluation unit (3) receiving the position data of the radio location ng system (4) and the position data of the sensor (7) compares and to form checked position data if they match.

Description

The present invention relates to a security system for localizing a person or an object according to the preamble of claim 1 and a method for localizing a person or an object in a surveillance area with a security system according to the preamble of claim 11.

The functional safety sensors are currently up to date so that fundamental physical characteristics of the environment, such as geometry information such as distances, lengths or the presence of objects, can be reliably detected and used in simple safety functions. On the other hand, higher-value information or derived meanings, for example the information about what kind of object it is, generally cannot be reliably determined by sensors and therefore cannot be used for safety purposes either.

In this sense, the information as to whether it is an object or a person is of particular interest for high-quality security functions. In general, an object classification is already a very complex process, since image data are generally used for this, which then have to be processed in a very complex manner. This usually leads to expensive sensors with often considerable latency times.

Optoelectronic safety sensors, for example laser scanners or light grids, very reliably detect the presence of an object or a person. Such safety sensors are widely used in the protection of hazardous points in machines and enable the implementation of very simple safety functions.

Machine movements are usually stopped or slowed down when a safety-relevant object is detected. It does not take into account what kind of object it is or where exactly in the configured protection area the object is located. This information is generally not available at all or cannot be used for safety purposes.

A simple detection function of existing safety sensors allows a reliable safeguarding of hazardous points but usually has negative effects on the productivity of a machine. Regardless of a class of the detected object, for example a person, an object or a malfunction or disruptive objects and regardless of the exact position of the object, a safety-related shutdown must take place, even if this reaction would not be required in certain cases.

In particular, reliable knowledge that a detected object is a person or not would enable a much more specific control of a potentially dangerous machine.

According to the DE 10 2012 102 236 A1 A sensor unit supplies a current 3D image of the work area at defined time intervals to protect a dangerous work area of an automated machine. An evaluation unit contains a fail-safe foreign object detector, a classifier, a person follower and a comparator. The foreign object detector generates, as a function of the current 3D image and as a function of a defined protection area, a first signal with first position information that is representative of the position of a foreign object in the protection area. The classifier tries to identify the foreign object as a person. The person follower tracks the identified person over a series of current 3D images and, after each new 3D image, determines second position information that represents the current position of the identified person. If the position of the foreign object according to the first position information and the position of the identified person are different from each other, a control signal for stopping the machine is generated.

the DE 10 2017 123 295 A1 discloses a safety system for safeguarding the cooperative operation of people, robots and machines on a technical system. The security system comprises a first security-related device, the is designed to monitor a first danger area of the technical system and to convert the technical system into a safe state when a dangerous situation is detected. The safety system is also designed to identify an autonomously working, technical unit and to register the autonomously working, technical unit if it meets a defined condition, as well as to limit the monitoring of the first danger area by the first safety-related device in response to the registration .

One object of the invention is to enable a reliable differentiation between an admissible person or an admissible object and an unauthorized person or an unauthorized object. This should enable high-quality safety functions such as targeted interaction between person and actuator or between object and actuator to be implemented.

The object is achieved according to claim 1 by a security system for localizing a person or an object in a monitoring area, with at least one movable machine, with a control and evaluation unit, with at least one radio location system, with at least one spatially resolving sensor for determining the position of the person or the Object, the radio location system having arranged radio stations, with at least one radio transponder being arranged on the person or the object, the position data of the person or the object being able to be determined by means of the radio location system, the position data being transmitted from the radio stations of the radio location system to the control and evaluation unit and position data of the person or the object can be determined by means of the spatially resolving sensor, the control and evaluation unit is designed to compare the position data of the radio location system and the position data of the sensor and in the event of an overthrow to create verified position data.

The object is further achieved according to claim 11 by a method for localizing a person or an object in a monitoring area with a security system, with at least one movable machine, with a control and evaluation unit, with at least one radio location system, with at least one spatially resolving sensor for determining position of the person or the object, the radio location system having arranged radio stations, with at least one radio transponder being arranged on the person or the object, the position data of the person or the object being determined by means of the radio location system, the Position data are transmitted from the radio stations of the radio location system to the control and evaluation unit, and position data of the person or object are determined by means of the spatially resolving sensor, the control and evaluation unit compares the position data of the radio location system and the position data of the sensor and, if they match, position data checked to build.

The security system is formed at least by the control and evaluation unit, the radio location system and the position-resolving sensor.

The invention is based on the fact that a position of the person or the object can be clearly determined by two subsystems that are independent of one another. On the one hand, the position is determined via the spatially resolving sensor, as well as the position which is determined via the radio location system. The position is thus determined by a redundant, in particular diverse system.

The invention uses the combination of two diverse sensor technologies that validate each other with regard to the detection task.

The first of the two sensor technologies is the radio location system or a radio-based localization system with which the positions of radio transponders can be determined to within a few centimeters.

The radio location is based, for example, on a triangulation of at least one radio transponder on the person or the object. This requires at least three radio stations that can detect the radio transponder. The radio location system knows the distance between the respective radio stations.

It is preferably a real-time location system or the English equivalent RTLS (Real-Time-Locating-System). In this case, the radio transponder or the radio transponders are arranged on the person or the object. The radio stations receive the radio signals from the radio transponders and can thus determine their position and thus the position of the person or object.

The position data is transmitted from the radio location system, namely the radio stations, to the control and evaluation unit.

The second system is the spatially resolving sensor or a spatially resolving environment detection system. No radio transponder is required for localization. This environment detection system or the spatially resolving sensor thus supplies information that an object is located at a certain position and determines its position and dimensions or contour.

The two diverse subsystems, namely the radio location system and the spatially resolving sensor, complement each other very well with regard to the functional tasks of position detection and can therefore be combined alternately for validation and thus for safety-related positioning.

A validation of an object or person position could thus proceed schematically as follows:
The radio location system determines the position of an object or a person. This information is transmitted to the control and evaluation unit.

The control and evaluation unit optionally transmits a search field in which the radio location system has located the person or the object to the position-resolving sensor.

The spatially resolving sensor checks whether a person or an object is present in its detection area or its search field, optionally with its size and possibly other detected validation parameters such as shape, speed, etc. The spatially resolving sensor transmits the recorded data to the control and evaluation unit.

The detected position of the person or the object of the radio location system and the detected position of the person or the object of the spatially resolving sensor are compared with one another by the control and evaluation unit.

The control and evaluation unit optionally compares the recorded features or the contour of the person or the object of the spatially resolving sensor with the recorded features or the contour of the person or the object of the radio location system.

The person or object position can thus be validated alternately through the two diverse information channels and thus checked for a safety-related application.

The invention enables the position of persons or objects to be reliably recognized in a monitoring area and thus opens up the possibility of tailoring a safety function specifically to a particular situation. This makes it possible to meet a requirement for a risk reduction without impairing the productivity of an automation process.

The physical operating principles and their strengths and weaknesses of the diverse sensors are advantageously complementary. Radio location systems, for example, have a natural immunity to extraneous light due to their operating principle. Radio location systems are also not very sensitive to interfering objects such as dust, chips or fog. In addition, radio location systems make it possible to see through non-metallic walls, so that people or objects can be recognized particularly early. This allows a high quality optimization of processes with constant guarantee of occupational safety.

The object can be stationary or mobile objects. For example, the object is transport material or processing material.

The movable machine or mobile machine can be, for example, a robot with movable robot arms. The movable machine thus has a drive and can be moved in different directions.

In other words, the invention consists in supplementing a classic safety function with presence detection by the spatially resolving sensor and safety-related disconnection by reliable position determination. The classic safety function through the spatially resolving sensor serves as a fallback function that takes over if the safe positioning fails.

In a further development of the invention, the control and evaluation unit is designed to compare the position data of the radio location system and the position data of the sensor and, if they match, to allow the person or object with the radio transponder in a protective field of the position-resolving sensor and not to output an object detection signal, whereby the movable Machine is in an active state.

If the position of an object or a person in the protective field can be detected with the required reliability, the classic safety function is bypassed (muting) and a machine control can optionally access the position data of the object or the person for the situation-related protection of the machine.

According to the development, the spatially resolving sensor, which is used in a stationary manner to protect the machine or the actuator, also provides its measurement data in order to enable the person or the object to be positioned in the protective field. In this way, if the position data of the radio location system and the position data of the spatially resolving sensor are present, a validation of the position of the person or the object is made possible and thus a safety-related use of the position information is accessible.

In addition to this redundant and diverse sensor structure, the safety-related usability must also be checked for the fault that the position data of the radio location system is missing or the position data of the spatially resolving sensor does not match the position data of the radio location system.

Therefore, according to the present invention, a validation-dependent bridging or muting of the safety function of the primary safety function, i.e. the protective field monitoring by the spatially resolving sensor, is provided, according to which, if the position data of the spatially resolving sensor and the radio location system match, the person or object with the radio transponder in a protective field of the spatially resolving sensor is to be allowed and no object detection signal is to be output, whereby the actuator is in an active state.

It is crucial that the primary safety function remains bridged as long as the validation of the position data of the radio location system and the position data of the position-resolving sensor is successful.

The validation of the two independent position data or position information is carried out by the control and evaluation unit. The control and evaluation unit is optionally a functionally reliable control and evaluation unit. The control and evaluation unit has, for example, means for detecting errors. These funds are for example Means for testing, for example a redundant and / or diverse structure with two channels for mutual checking of the determined results and the position data.

In a further development of the invention, the spatially resolving sensor and the radio stations are arranged in a stationary manner. This is a stationary application, the movable machine being, for example, a robot, a handling machine or the like. The movable machine can also be a processing machine, for example a press or punch, which can also be in direct interaction with a person or an object.

In a further development of the invention, the spatially resolving sensor and the radio stations are arranged in a mobile manner on a movable machine. This is a mobile application, the movable machine being, for example, a vehicle, in particular a driverless vehicle or the like. The vehicle can also be in direct interaction with a person or an object.

In a further development of the invention, checked position data are formed on the basis of the position data of the radio location system and the position data of the sensor, the control and evaluation unit being designed to compare the checked position data with reference data and, if they match, a change in the safety function of the safety system using the control and evaluation unit takes place, the actuator being operated in a safe operating mode.

According to the development of the invention, a safe collaboration between the movable machine or actuator and person can be realized. Depending on the position, speed, direction of movement and / or the distance of the person, the movable machine or the actuator is braked, stopped, deflected and / or accelerated again.

In particular, if the person or the object is located in a dangerous area of the movable machine, the movable machine is operated in a non-dangerous operating mode.

Safety-critical errors such as the loss of the radio signal, e.g. B. because no radio transponder is available, because a power supply to the radio transponder has failed or because, for example, the radio transponder is shielded or an incorrect localization of the person or the object by the spatially resolving sensor or the incorrect processing of position data by the control and evaluation unit a safety-related shutdown by the primary safety function, namely by the control and evaluation unit if there are no valid position data from the spatially resolving sensor.

In a further development of the invention, the control and evaluation unit is designed to set a changed safety function based on the checked position data of the control and evaluation unit, with a movement of the movable machine being changed or influenced by the control and evaluation unit depending on the distance from the person to the movable machine will.

For example, a changed safety function is set by means of the control and evaluation unit, the control and evaluation unit converting the checked position information into a safe distance from the danger point and influencing a movement of the movable machine depending on the distance from the person.

According to the development of the invention, a safe collaboration between the movable machine or actuator and person can also be implemented. Depending on the position, speed, direction of movement and / or the distance of the person, the movable machine or the actuator is braked, stopped, deflected and / or accelerated again.

In a further development of the invention, the radio location system is an ultra-broadband radio location system, the frequency used being in the range from 3.1 GHz to 10.6 GHz, the transmission energy per radio station being a maximum of 0.5 mW.

In the case of an ultra-wideband radio location system, an absolute bandwidth is at least 500 MHz or a relative bandwidth is at least 20% of the central frequency.

The range of such a radio location system is, for example, 0 to 50 m, the short duration of the radio pulses being used for the location.

The radio location system only sends out radio waves with a low energy. The system can be used very flexibly and shows no interference.

At least only one single radio transponder needs to be arranged on the person or the object, which radio transponder is detected by at least three stationary radio stations, the distance between the radio stations being known.

A plurality, for example more than three, radio stations are preferably arranged which monitor at least part of the movement area of the person or the object.

At least two or more radio transponders can also be arranged on the person or the object. As a result, the position of the person or the object can be identified more precisely and the orientation of the person or the object can also be detected when the person or object is stationary if the arrangement of the radio transponders on the person or the object is known.

In a further development of the invention, the spatially resolving sensor is an optoelectronic sensor, an ultrasonic sensor or a radar sensor.

In the case of a light transit time sensor, the light emitted by a light transmitter that is remitted by the person or object is received by a light receiver and the light transit time from emission to reception from the person or object is evaluated, whereby the distance to the person or object is determined can be.

However, the sensor can also be an ultrasonic sensor or a radar sensor.

An ultrasonic sensor sends out ultrasound and evaluates the reflected sound waves, i.e. the echo signals. Frequencies from 16 kHz are used. Detection ranges from a few centimeters to many meters can be achieved.

A radar sensor is a sensor that emits a so-called primary signal as a bundled electromagnetic wave that receives echoes reflected from people or objects as a secondary signal and evaluates them according to various criteria. This is a localization, namely the determination of distance and angle.

Position information or the position can be obtained from the waves received and reflected from the person or object. As already mentioned, the angle or the direction to the object and the distance to the person or the object can be determined from the time difference between sending and receiving the signal. The relative movement between the transmitter and the person or object can also be determined, for example by means of a simple multiple measurement at time intervals. The stringing together of individual measurements provides the distance and the absolute speed of the object. With a corresponding resolution of the radar sensor, contours of the person or the object can be recognized.

A radiation from the radar sensor is largely bundled in one direction, for example due to the antenna design. The radiation pattern of the antenna then has a so-called lobe shape.

The wavelength of the radar is in the range of radio waves in the short to microwave range. A pulse radar sensor sends pulses with a typical duration in the lower microsecond range and then waits for echoes. The duration of the pulse is the time between sending and receiving the echo. It is used to determine the distance.

A direction of the scanning beam of a pulse radar sensor can also be effected electronically by phase-controlled antenna arrays instead of by the alignment of the antenna or antennas. This means that several objects can be targeted in quick succession and followed virtually simultaneously.

The radar sensor works with a power of, for example, approx. 10 mW. This performance is so low that there are no health effects. The radar frequency permitted for this application is, for example, in the range of 76-77 GHz, corresponding to a wavelength of around 4 mm.

In a further development of the invention, the spatially resolving sensor is designed for at least two-dimensional monitoring of a monitoring area.

The spatially resolving sensor for at least two-dimensional monitoring of a monitoring area is a sensor for distance measurement. The distance sensor supplies distance values in at least two-dimensional space. The sensor gives Measured values with distance information and angle information. For example, the distance is determined using the time-of-flight method or triangulation method.

In a further development of the invention, the spatially resolving sensor is designed for at least spatial monitoring of a monitoring area.

In a further development of the invention, the optoelectronic sensor is a laser scanner, a safety laser scanner, a 3D camera, a stereo camera or a time-of-flight camera.

For position detection, the spatially resolving sensor, the laser scanner, the safety laser scanner, the 3D camera, the stereo camera or the time-of-flight camera monitors a two-dimensional or three-dimensional monitoring area or a measurement data contour. This can also be synonymous with a monitoring field.

Safety systems used in safety technology must work particularly reliably and intrinsically safely and therefore meet high safety requirements, for example the EN13849 standard for machine safety and the EN61496 device standard for electro-sensitive protective devices (ESPE).

To meet these safety standards, a number of measures must be taken, such as safe electronic evaluation through redundant and / or diverse electronics or various function monitoring, especially monitoring the contamination of optical components including a front window. A safety laser scanner according to such standards is, for example, from DE 43 40 756 A1 famous.

The term "functionally safe" is to be understood in the sense of the named or comparable standards, so measures have been taken to control errors up to a specified safety level. The safety system can therefore be designed to be intrinsically safe. The safety system and / or at least one safe sensor also generate non-safe data, such as raw data, point clouds or the like. Not safe is the opposite term too safe, for non-safe devices, transmission paths, evaluations and the like and accordingly the mentioned requirements for fail-safe security are not met.

A 3D camera, for example, also monitors a monitoring area by means of a large number of recorded distance values. A 3D camera has the advantage that a volume-like protection area can be monitored.

A stereo camera, for example, also monitors a monitoring area by means of a large number of recorded distance values. The distance values are determined on the basis of the two cameras of the stereo camera, which are mounted at a basic distance from one another. A stereo camera also has the advantage that a volume-like protection area can be monitored.

A time-of-flight camera is used to determine distance values based on the measured time of flight, which are determined by an image sensor. A time-of-flight camera also has the advantage that a volumetric or spatial protection area can be monitored.

Figur 1 und 2

jeweils ein Sicherheitssystem in einer schematischen Darstellung;

Figur 3

ein Sicherheitssystem in einer Blockdarstellung.

The invention is explained below also with regard to further advantages and features with reference to the accompanying drawings using exemplary embodiments. The figures in the drawing show in:

Figures 1 and 2

each a security system in a schematic representation;

Figure 3

a security system in a block diagram.

In the following figures, identical parts are provided with identical reference symbols.

Figure 1 shows a security system 1 for localizing a person 2 or an object 8 in a monitoring area, with a movable machine 11, with a control and evaluation unit 3, with at least one radio location system 4, with at least one spatially resolving sensor 7 for determining the position of the person 2 or the Object 8, the radio location system 4 having arranged radio stations 5, with at least one radio transponder 6 being arranged on the person 2 or the object 8, wherein position data of the person 2 or the object 8 can be determined by means of the radio location system 4, the position data from the radio stations 5 of the radio location system 4 can be transmitted to the control and evaluation unit 3, and position data of the person 2 or of the object 8 can be determined by means of the position-resolving sensor 7, the control and evaluation unit 3 is designed, the position data of the To compare radio location system 4 and the position data of the spatially resolving sensor 7 and to form checked position data if they match.

Optional is according to Figure 2 the control and evaluation unit 3 designed to compare the position data of the radio location system 4 and the position data of the spatially resolving sensor 7 and, if they match, to allow the person 2 or the object 8 with the radio transponder 6 in a protective field 13 of the spatially resolving sensor 7 and not to output an object detection signal whereby the movable machine 11 is in an active state.

Figure 3 shows a block structure with the various signals. According to Figure 3 a classic safety function with presence detection by the spatially resolving sensor 7 and safety-related shutdown 16 is supplemented with a safe position determination. For position detection, the laser scanner 10 monitors in accordance with Figure 3 and Figure 2 a two-dimensional monitoring area or a measurement data contour 14. This can also be synonymous with a monitoring field. The classic safety function by the spatially resolving sensor 7 serves as a fallback function that takes over if the safe positioning fails. If, however, the position of an object or a person in the protective field 13 could be detected with the reliability required from a safety-related point of view, the classic safety function is bridged by means of a muting signal 15 and a machine control 12 can optionally provide secure or checked position data 17 for the situation-related safeguarding of the movable machine 11 of the object 8 or the person 2 fall back.

According to Figure 1 the spatially resolving sensor 7, which is used in a stationary manner to protect the movable machine 11 or the actuator, also provides its measurement data in order to enable the person 2 or the object 8 to be positioned in the protective field 13. In this way, if the position data of the radio location system 4 and the position data of the spatially resolving sensor 7 are present, a validation of the position of the person 2 or of the object 8 is made possible and thus a safety-related use of the position information is accessible.

In addition to this redundant and diverse sensor structure, the error case that the position data of the radio location system 4 is missing or the position data of the spatially resolving sensor 7 does not match the position data of the radio location system 4 must also be checked for safety-related usability.

Hence, according to Figure 1 a validation-dependent bridging or muting of the safety function of the primary safety function, i.e. the protective field monitoring by the spatially resolving sensor 7, according to which, if the position data of the spatially resolving sensor 7 and the radio location system 4 match, the person 2 or the object 8 with the radio transponder in a protective field of the to allow spatially resolving sensor and not to output an object detection signal, whereby the movable machine 11 or the actuator is in an active state.

It is crucial that the primary safety function remains bridged as long as the validation of the position data of the radio location system 4 and the position data of the position-resolving sensor 7 is successful.

The validation of the two independent position data or position information is carried out by the control and evaluation unit 3. The control and evaluation unit 3 is optionally a functionally reliable control and evaluation unit 3. The control and evaluation unit 3 has, for example, means for detecting errors. These means are, for example, means for testing, for example a redundant and / or diverse structure with two channels for mutual checking of the determined results and the position data.

According to Figure 1 the spatially resolving sensor 7 and the radio stations 5 are arranged in a stationary manner. This is a stationary application, the movable machine 11 being, for example, a robot, a handling machine or the like. The movable machine 11 can also be a processing machine, for example a press or punch, which can likewise be in direct interaction with a person 2 or an object 8.

According to an embodiment not shown, the spatially resolving sensor and the radio stations are arranged in a mobile manner on a movable machine. This is a mobile application, the movable machine being, for example, a vehicle, in particular a driverless vehicle or the like. The vehicle can also be in direct interaction with a person or an object.

According to Figure 1 checked position data are formed on the basis of the position data of the radio location system 4 and the position data of the position-resolving sensor 7, wherein the control and evaluation unit 3 is designed to compare the checked position data with reference data and, if they match, the control and evaluation unit changes the safety function of the safety system 1, the movable machine 11 or the actuator being operated in a safe operating mode.

According to Figure 1 a safe collaboration between the movable machine 11 or actuator and the person 2 can be realized. Depending on the position, speed, direction of movement and / or the distance of the person 2, the movable machine 11 or the actuator is braked, stopped, deflected and / or accelerated again.

In particular, when the person 2 or the object 8 is located in a dangerous area of the movable machine 11, the movable machine 11 is operated in a safe operating mode.

Safety-critical errors such as the loss of the radio signal, e.g. B. because there is no radio transponder 6, because a power supply to the radio transponder 6 has failed or because, for example, the radio transponder 6 is shielded or incorrect localization of the person 2 or the object 8 by the spatially resolving sensor 7 or the incorrect processing of position data by the control - and evaluation unit 3, lead to a safety-related shutdown by the primary safety function, namely by the control and evaluation unit 3 if no valid position data are available from the spatially resolving sensor 7.

According to Figure 2 the radio location system 4 is optionally an ultra-broadband radio location system, the frequency used being in the range from 3.1 GHz to 10.6 GHz, the transmission energy per radio station being a maximum of 0.5 mW.

Only a single radio transponder 6, which is detected by at least three stationary radio stations 5, with the distance between the radio stations 5 being known, has to be arranged on the person 2 or the object 8.

A plurality, for example more than three, radio stations 5 are preferably arranged, which monitor at least part of the movement area of the person 2 or of the object 8.

At least two or more radio transponders 6 can also be arranged on the person 2 or the object 8. As a result, the position of person 2 or object 8 can be identified more precisely and the orientation of person 2 or object 8 can also be detected when the vehicle is stationary if the arrangement of radio transponders 6 on person 2 or object 8 is known.

According to Figure 1 the spatially resolving sensor 7 is an optoelectronic sensor, an ultrasonic sensor or a radar sensor.

In the case of a light transit time sensor as an optoelectronic sensor, the light emitted by a light transmitter which is remitted by person 2 or object 8 is received by a light receiver and the light transit time from transmission to reception by person 2 or object 8 is evaluated, thereby determining the distance can be determined to the person 2 or the object 8.

However, the spatially resolving sensor 7 can also be an ultrasonic sensor or a radar sensor.

According to Figure 1 the spatially resolving sensor 7 is designed for at least two-dimensional monitoring of a monitoring area.

The spatially resolving sensor 7 for at least two-dimensional monitoring of a monitoring area is a sensor for distance measurement. The distance sensor supplies distance values in at least two-dimensional space. The spatially resolving sensor outputs 7 measured values with distance information and angle information. For example, the distance is determined using the time-of-flight method or triangulation method.

According to an embodiment not shown, the spatially resolving sensor is designed for at least spatial monitoring of a monitoring area.

According to Figure 1 the optoelectronic sensor can be a laser scanner 10 or a safety laser scanner.

According to an embodiment not shown, the spatially resolving sensor is a 3D camera, a stereo camera or a time-of-flight camera.

Reference number:

1

security system

2

person

3

Control and evaluation unit

4th

Radio location system

5

Radio stations

6th

Radio transponder

7th

spatially resolving sensor

8th

object

10

Laser scanner

11

movable machine

12th

Machine control

13th

Protective field

14th

Measuring contour

15th

Muting signal

16

safety-related shutdown

17th

secure or verified position data

Claims (11)

Security system (1) for localizing at least one person (2) or at least one object (8) in a monitoring area, with at least one movable machine (11), with a control and evaluation unit (3), with at least one radio location system (4), with at least one spatially resolving sensor (7) for determining the position of the person (2) or the object (8),
wherein the radio location system (4) has arranged radio stations (5),
wherein at least one radio transponder (6) is arranged on the person (2) or the object (8),
whereby position data of the person (2) or the object (8) can be determined by means of the radio location system (4),
wherein the position data can be transmitted from the radio stations (5) of the radio location system (4) to the control and evaluation unit (3),
and position data of the person (2) or the object (8) can be determined by means of the spatially resolving sensor (7),
characterized in that the control and evaluation unit (3) is designed to compare the position data of the radio location system (4) and the position data of the sensor (7) and to form checked position data if they match. Security system (1) according to claim 1, characterized in that the control and evaluation unit (3) is designed to compare the position data of the radio location system (4) and the position data of the sensor (7) and, if they match, the person or object with to allow the radio transponder in a protective field of the spatially resolving sensor and not to output an object detection signal, whereby the movable machine (11) is in an active state. Security system (1) according to at least one of the preceding claims, characterized in that the spatially resolving sensor (7) and the radio stations (5) are arranged stationary or are arranged mobile on a movable machine (11). Safety system (1) according to at least one of the preceding claims, characterized in that checked position data are formed on the basis of the position data of the radio location system (4) and the position data of the sensor (7), the control and evaluation unit being designed to provide the checked position data with reference data compare and if they match, the control and evaluation unit (3) changes the safety function of the safety system (1), the actuator being operated in a safe operating mode. Safety system (1) according to at least one of the preceding claims, characterized in that the control and evaluation unit (3) is designed to set a changed safety function based on the checked position data of the control and evaluation unit, with a movement depending on the distance from the person to the movable machine the movable machine is changed or influenced by the control and evaluation unit. Security system (1) according to at least one of the preceding claims, characterized in that the radio location system (4) is an ultra-broadband radio location system, the frequency used being in the range from 3.1 GHz to 10.6 GHz, the transmission energy per radio station ( 5) is a maximum of 0.5 mW. Security system (1) according to at least one of the preceding claims, characterized in that the spatially resolving sensor (7) is an optoelectronic sensor, an ultrasonic sensor or a radar sensor. Security system (1) according to at least one of the preceding claims, characterized in that the spatially resolving sensor (7) is designed for at least two-dimensional monitoring of a monitoring area. Security system (1) according to at least one of the preceding claims, characterized in that the spatially resolving sensor (7) is designed for at least spatial monitoring of a monitoring area Safety system (1) according to at least one of the preceding claims, characterized in that the optoelectronic sensor is a laser scanner (10), a safety laser scanner, a 3D camera, a stereo camera or a time-of-flight camera. Method for localizing a person (2) or an object (8) in a monitoring area with a security system (1), with at least one movable machine (11), with a control and evaluation unit (3), with at least one radio location system (4) , with at least one spatially resolving sensor (7) for determining the position of the person (2) or the object (8),
wherein the radio location system (4) has arranged radio stations (5),
wherein at least one radio transponder (6) is arranged on the person (2) or the object (8),
whereby position data of the person (2) or the object (8) are determined by means of the radio location system (4),
the position data from the radio stations (5) of the radio location system (4) being transmitted to the control and evaluation unit (3),
and position data of the person (2) or the object (8) are determined by means of the spatially resolving sensor (7),
characterized in that the control and evaluation unit (3) compares the position data of the radio location system (4) and the position data of the sensor (7) and, if they match, to form checked position data.

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